org.ode4j.ode
Class DRotation

java.lang.Object
  org.ode4j.ode.OdeConstants
      org.ode4j.ode.internal.ErrorHandler
          org.ode4j.ode.internal.Common
              org.ode4j.ode.DMisc
                  org.ode4j.ode.DMatrix
                      org.ode4j.ode.DRotation

Direct Known Subclasses:

OdeMath

public class DRotation
extends DMatrix

Port of rotation.h in ode API.

Author:

Tilmann Zaeschke

Nested Class Summary

Nested classes/interfaces inherited from class org.ode4j.ode.internal.Common

org.ode4j.ode.internal.Common.DMatrix4

Nested classes/interfaces inherited from class org.ode4j.ode.internal.ErrorHandler

org.ode4j.ode.internal.ErrorHandler.dMessageFunction

Field Summary

Fields inherited from class org.ode4j.ode.internal.Common

d_ERR_IASSERT, d_ERR_LCP, d_ERR_UASSERT, d_ERR_UNKNOWN, d_MEMORY_OK, d_MEMORY_OUT_OF_MEMORY, dATOMICS_ENABLED, DBL_EPSILON, dDOUBLE, dEpsilon, dNODEBUG, dSINGLE, dTLS_ENABLED, dTRIMESH_16BIT_INDICES, dTRIMESH_ENABLED, dTRIMESH_GIMPACT, dTRIMESH_OPCODE, dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER, dUSE_MALLOC_FOR_ALLOCA, M_PI, M_SQRT1_2, MAX_FLOAT

Fields inherited from class org.ode4j.ode.OdeConstants

CONTACTS_UNIMPORTANT, dAllocateMaskAll, dContactApprox0, dContactApprox1, dContactApprox1_1, dContactApprox1_2, dContactBounce, dContactFDir1, dContactMotion1, dContactMotion2, dContactMotionN, dContactMu2, dContactSlip1, dContactSlip2, dContactSoftCFM, dContactSoftERP, dInfinity

Constructor Summary

DRotation()

Method Summary

static void	dQFromAxisAndAngle(DQuaternion q, double ax, double ay, double az, double angle)
static void	dQfromR(DQuaternion q, DMatrix3C R)
static void	dQMultiply0(DQuaternion qa, DQuaternionC qb, DQuaternionC qc) Quaternion multiplication, analogous to the matrix multiplication routines.
static void	dQMultiply1(DQuaternion qa, DQuaternionC qb, DQuaternionC qc) Quaternion multiplication, analogous to the matrix multiplication routines.
static void	dQMultiply2(DQuaternion qa, DQuaternionC qb, DQuaternionC qc) Quaternion multiplication, analogous to the matrix multiplication routines.
static void	dQMultiply3(DQuaternion qa, DQuaternionC qb, DQuaternionC qc) Quaternion multiplication, analogous to the matrix multiplication routines.
static void	dRFromAxisAndAngle(DMatrix3 R, double ax, double ay, double az, double angle)
static void	dRFromAxisAndAngle(DMatrix3 R, DVector3C a, double angle)
static void	dRFromEulerAngles(DMatrix3 R, double phi, double theta, double psi)
static void	dRfromQ(DMatrix3 R, DQuaternionC q)
static void	dRFromZAxis(DMatrix3 R, DVector3C a)
static void	dRSetIdentity(DMatrix3 R)

Methods inherited from class org.ode4j.ode.DMatrix

dFactorCholesky, dFactorCholesky, dFactorLDLT, dInvertPDMatrix, dInvertPDMatrix, dIsPositiveDefinite, dIsPositiveDefinite, dLDLTAddTL, dLDLTRemove, dMultiply0, dMultiply0, dMultiply0, dMultiply0, dMultiply1, dMultiply1, dMultiply1, dMultiply2, dMultiply2, dMultiply2, dRemoveRowCol, dSetValue, dSetZero, dSolveCholesky, dSolveCholesky, dSolveLDLT, dVectorScale

Methods inherited from class org.ode4j.ode.DMisc

dClearUpperTriangle, dClearUpperTriangle, dMakeRandomMatrix, dMakeRandomMatrix, dMakeRandomVector, dMakeRandomVector, dMakeRandomVector, dMaxDifference, dMaxDifference, dMaxDifference, dMaxDifference, dMaxDifferenceLowerTriangle, dPrintMatrix, dRand, dRandGetSeed, dRandInt, dRandReal, dRandSetSeed, dTestRand

Methods inherited from class org.ode4j.ode.internal.Common

dAASSERT, dAASSERT, dAtan2, dCeil, dCopysign, dCopySign, dCos, dDEBUGMSG, dFabs, dFloor, dFMod, dIASSERT, dIsNan, dIVERIFY, dNextAfter, dPAD, dRecip, dRecipSqrt, dSin, dSqrt, dUASSERT

Methods inherited from class org.ode4j.ode.internal.ErrorHandler

dDebug, dError, dGetDebugHandler, dGetErrorHandler, dGetMessageHandler, dMessage, dSetDebugHandler, dSetErrorHandler, dSetMessageHandler

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DRotation

public DRotation()

Method Detail

dRSetIdentity

public static void dRSetIdentity(DMatrix3 R)

dRFromAxisAndAngle

public static void dRFromAxisAndAngle(DMatrix3 R,
                                      double ax,
                                      double ay,
                                      double az,
                                      double angle)

dRFromAxisAndAngle

public static void dRFromAxisAndAngle(DMatrix3 R,
                                      DVector3C a,
                                      double angle)

dRFromEulerAngles

public static void dRFromEulerAngles(DMatrix3 R,
                                     double phi,
                                     double theta,
                                     double psi)

dRFromZAxis

public static void dRFromZAxis(DMatrix3 R,
                               DVector3C a)

dQFromAxisAndAngle

public static void dQFromAxisAndAngle(DQuaternion q,
                                      double ax,
                                      double ay,
                                      double az,
                                      double angle)

dQMultiply0

public static void dQMultiply0(DQuaternion qa,
                               DQuaternionC qb,
                               DQuaternionC qc)

Quaternion multiplication, analogous to the matrix multiplication routines. qa = rotate by qc, then qb

dQMultiply1

public static void dQMultiply1(DQuaternion qa,
                               DQuaternionC qb,
                               DQuaternionC qc)

Quaternion multiplication, analogous to the matrix multiplication routines. qa = rotate by qc, then by inverse of qb

dQMultiply2

public static void dQMultiply2(DQuaternion qa,
                               DQuaternionC qb,
                               DQuaternionC qc)

Quaternion multiplication, analogous to the matrix multiplication routines. qa = rotate by inverse of qc, then by qb

dQMultiply3

public static void dQMultiply3(DQuaternion qa,
                               DQuaternionC qb,
                               DQuaternionC qc)

Quaternion multiplication, analogous to the matrix multiplication routines. qa = rotate by inverse of qc, then by inverse of qb

dRfromQ

public static void dRfromQ(DMatrix3 R,
                           DQuaternionC q)

dQfromR

public static void dQfromR(DQuaternion q,
                           DMatrix3C R)